KR102004067B1 - Computer-readable recording medium recording vehicle type discrimination apparatus, vehicle type discrimination method and program - Google Patents

Abstract

The vehicle type discrimination apparatus 10 for discriminating the vehicle type of the vehicle A traveling on the lane L is disposed on the road surface of the lane L and detects the pressure caused by the tire of the vehicle A, and the step plate 10B. A laser detector 10C that transmits the laser light at a height at which the tire is disposed in at least a step ahead of the tread plate 10B of the lane L and detects the reflected light of the laser light, a tread plate 10B, and Based on the detection result of the laser detector 10C, the main control unit 10D for specifying the number of axles of the vehicle A is provided.

Description

Computer-readable recording medium recording vehicle type discrimination apparatus, vehicle type discrimination method and program

The present invention relates to a vehicle type discrimination apparatus, a vehicle type discrimination method and a program.

This application claims priority based on Japanese Patent Application No. 2015-033917 for which it applied to Japan on February 24, 2015, and uses the content here.

Toll roads, such as expressways, are generally used for automatic ticket vending machines, toll machines, or electronic toll collection systems (ETCs), for the purpose of streamlining toll collection. System is also used.

In such a fee receiving system, in order to perform charging according to the vehicle type classification of the vehicle which runs, the vehicle type discrimination apparatus which automatically discriminates | determines the vehicle type division of the said vehicle may be installed. The fee-receiving system uses this vehicle type determination device to discriminate the vehicle type of the traveling vehicle and to perform the billing process according to the vehicle class.

In such a vehicle type discrimination apparatus, in addition to a vehicle detector that separates and detects the entry of a vehicle one by one, a stepping plate that detects pressure by a tire in order to specify the number of axles and tread width of the vehicle, etc. ) May be used (for example, refer patent document 1).

Moreover, the method of specifying the number of axles of the vehicle which travels using the laser scanner (laser detector) which can transmit a laser beam to the height where a tire is arrange | positioned is proposed (for example, refer patent document 2). ).

In the case where it is desired to discriminate the vehicle type classification of the vehicle traveling by using the above-described stepping plate, the number of axles of the vehicle can be specified by detecting the number of times the stepping step is stepped by a tire.

According to such a structure, the vehicle type discrimination apparatus cannot specify the number of axles of the vehicle unless the entire vehicle body has passed through the tread, and thus cannot distinguish the vehicle type. Therefore, in the conventional fee-receiving system installed in a highway or the like, in order to make it possible to discriminate the classification of the vehicle types for all vehicles, the vehicle type discrimination device and the automatic fare number are considered in consideration of the maximum vehicle length (for example, 18 m) of the traveling vehicle. It is provided so that the space | interval with a handwriting (or a ticket automatic issuing machine, a manned booth, etc.) becomes more than the maximum car length.

Patent Document 1: Japanese Unexamined Patent Publication No. 2007-265003 Patent Document 2: Japanese Unexamined Patent Publication No. Hei 11-167694

However, it is sometimes difficult to secure an installation space in which the distance between the vehicle type discrimination device and the automatic ticket issuing machine and the like is greater than or equal to the maximum vehicle length for convenience of location conditions at the entrance and exit tollgates of the expressway. In this case, the number of axles of the vehicle cannot be specified at the entrance / exit tollgates, and the charging cannot be performed according to the segmentation of the car model sufficiently subdivided.

On the other hand, when it is desired to specify the number of axles of a vehicle by projecting a laser beam at a height at which the tire is arranged, it is assumed that the misdetection caused by other traveling vehicles or garbage is assumed, and thus the number of axles of the vehicle is precisely specified. It is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide a vehicle discrimination apparatus, a vehicle discrimination method and a program that can be installed even where a sufficient installation space cannot be secured and that can accurately discriminate a vehicle class. There is.

According to one aspect of the present invention, a vehicle type discrimination apparatus 10 for discriminating a vehicle type of a vehicle A traveling through a lane L is disposed on a road surface of the lane to detect pressure by a tire of the vehicle. 10B and a laser detector 10C that transmits the laser light la to a height at which the tire is disposed in a predetermined range at least ahead of the tread of the lane and detects the reflected light of the laser light; And an axle number specifying unit 101 for specifying the axle number of the vehicle based on the detection result of the stepping plate and the laser detector.

By doing so, even if a part of the front of the vehicle traveling direction does not pass through the tread in the step where the user carries out toll processing, the axle of the vehicle based on the detection result of the laser detector in the range ahead of the tread. You can specify the number. Therefore, it is possible to install even in a part where sufficient installation space cannot be secured, and the vehicle type classification of a vehicle can be discriminated precisely.

In addition, even when some axles are not specified based on the laser detector due to misdetection of reflected light or the like, the number of axles for the portion of the vehicle that has passed through the tread can be reliably determined using the detection result of the tread. It can be specified. Therefore, the specific precision of the number of axles of the vehicle can be improved.

In addition, according to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying unit is an inner side which specifies the number of axles in a range in the traveling direction inward from the tread of the vehicle based on a detection result of the tread. And a front axle number specifying portion 101B for specifying the number of axles in a range ahead of the tread of the vehicle on the basis of the axle number specifying portion 101A and the detection result of the laser detector.

By doing so, the number of axles for the portion of the vehicle that has passed through the tread can be determined by adopting the detection result (the number of times of stepping) of the tread so that the specific accuracy of the number of the axles of the vehicle can be improved.

In addition, according to one aspect of the present invention, in the vehicle type discrimination apparatus described above, the axle number specifying portion is a tire shape pattern P1 in which a plurality of detection coordinates Q1 and Q2 obtained as a detection result of the laser detector are predefined. In this case, the tire determination unit 110 determines that the tire is present at a position corresponding to the plurality of detection coordinates.

By doing so, for example, when garbage or dust is detected as a detection result of the laser detector, misrecognition of the garbage or dust as a tire can be suppressed. Therefore, the specific precision of the number of axles by the detection result of a laser detector can be improved.

In addition, according to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying portion is a tire in which the positional relationship between two tires τ11 and τ12 is specified based on a detection result of the laser detector. In the case of fitting to the arrangement pattern P2, the vehicle is provided with an axle determination unit 111 that determines that the vehicle has one axle corresponding to the two tires.

By doing in this way, when the position of a some tire is specified in the range ahead of a tread, the existence of the axle corresponding to each tire can be discriminated accurately. Therefore, the specific precision of the number of axles by the detection result of the laser detector 10C can be improved further.

According to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying unit moves each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times. The same vehicle that determines that the plurality of tires belong to one vehicle when the moving direction distance specifying unit 112 specifying the direction and the moving distance coincides with the moving direction and the moving distance of the plurality of tires. The determination unit 113 is provided.

By doing so, it is possible to specify the moving direction and the moving distance of the tire and to separate one vehicle and the other vehicle traveling in the lane based on the moving direction and the moving distance. Therefore, the number of axles for this one vehicle can be specified more precisely.

In addition, according to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying unit includes the stepping plate among the tires detected by the laser detector based on the movement direction and the movement distance of the plurality of tires. The step detection tire specification part 114 which specifies the tire detected by the above is provided.

By doing in this way, among the axles specified based on the detection result of a laser detector, what was calculated also by the detection result (the number of steps) of the tread plate can be distinguished. Therefore, the same axles can be prevented from being duplicated and the number of axles for the vehicle can be specified more precisely.

In addition, according to an aspect of the present invention, a vehicle type determination method for determining the vehicle type classification of the vehicle traveling in the lane, detecting the pressure by the tire of the vehicle through the stepping plate disposed on the road surface of the lane, and the laser detector Transmitting a laser beam to a height at which the tire is disposed in a predetermined range in a direction ahead of the tread plate at least in the direction of the lane, and detecting the reflected light of the laser beam, using the detection of the tread plate and the laser detector. And specifying the number of axles of the vehicle, which is information used for discriminating the vehicle model, based on the result.

According to one aspect of the present invention, a program includes a stepping plate disposed on a road surface of a lane to detect pressure by a tire of a vehicle, and the tire being disposed in a predetermined range ahead of at least the stepping plate of the lane. A computer of a vehicle type discrimination apparatus which has a laser detector which transmits laser light at a height and detects reflected light of the laser light, and discriminates a vehicle type classification of the vehicle traveling on the lane, according to a detection result of the tread plate and the laser detector. Function as an axle number specifying means for specifying the axle number of the vehicle based on that.

According to one aspect of the present invention, a vehicle type discrimination apparatus for discriminating a vehicle type of a vehicle traveling through a lane transmits laser light to a height at which the vehicle tire is disposed within a predetermined range on the lane, A laser detector for detecting reflected light and an axle number specifying portion for specifying the axle number of the vehicle based on a detection result of the laser detector, wherein the axle number specifying portion has a plurality of detection coordinates obtained as a detection result of the laser detector; When it matches with a tire shape pattern defined previously, the tire determination part which determines that the said tire exists in the position corresponding to the said some detection coordinate is provided.

In addition, according to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying unit conforms to a tire arrangement pattern in which the positional relationship between two tires specified based on a detection result of the laser detector is prescribed. In this case, an axle judging section for determining that the vehicle has one axle corresponding to the two tires is provided.

In addition, according to one aspect of the present invention, in the above-described vehicle type discrimination apparatus, the axle number specifying unit is a movement direction and movement of each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times. The moving direction distance specification part which specifies a distance, and the same vehicle determination part which determines that the said some tire belongs to one vehicle, when the said moving direction and said moving distance of a some said tire correspond.

According to the above-described vehicle type discrimination apparatus, vehicle type discrimination method and program, it is possible to install even where a sufficient installation space cannot be secured, and to accurately discriminate the vehicle type of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole structure of the fee service facility which concerns on 1st Embodiment.
FIG. 2 is a first diagram for explaining the function of the laser detector according to the first embodiment. FIG.
3 is a second diagram illustrating the function of the laser detector according to the first embodiment.
It is a figure which shows the example of the positional relationship of the fee collection facility which concerns on 1st Embodiment, and a vehicle.
FIG. 5 is a diagram illustrating a functional configuration of a vehicle type discrimination apparatus according to the first embodiment. FIG.
Fig. 6 is a diagram showing a functional configuration of the front axle number specifying unit according to the first embodiment.
7 is a view for explaining the function of the tire determining unit according to the first embodiment.
8 is a view for explaining the function of the axle determination unit according to the first embodiment.
9 is a diagram illustrating a function of the movement direction distance specifying unit according to the first embodiment.
10 is a view for explaining the function of the same vehicle determination unit according to the first embodiment.
It is a figure explaining the function of the tread detection tire specification part which concerns on 1st Embodiment.
It is a figure which shows the process flow of the front axle number specification part which concerns on 1st Embodiment.
It is a figure which shows the process flow of the axle number specification part which concerns on 2nd Embodiment.

<1st embodiment>

EMBODIMENT OF THE INVENTION Hereinafter, the vehicle type discrimination apparatus which concerns on 1st Embodiment is demonstrated, referring FIGS.

(Overall configuration)

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole structure of the fee service facility which concerns on 1st Embodiment.

The fee collection facility 1 according to the first embodiment is installed at an exit toll booth (departure tollgate depending on the fee type) of a toll road which is a toll road, and charges according to the type of vehicle of the vehicle that the user rides from the user of the highway. Equipment to carry out.

In the example shown in FIG. 1, the vehicle A on which the user of the highway rides travels in the lane L from the highway side to the general road side in the charge receiving facility 1 installed at the exit tollgate. The island I is attached to both sides of the lane L, and the various apparatus which comprises the toll delivery facility 1 is provided.

Hereinafter, the highway side (+ X direction side in FIG. 1) is also described as the "upstream side" of the lane L, or the "advance direction front side" of the lane L. In FIG. In addition, the general road side (the -X direction side in FIG. 1) is also described as the "downstream side" of the lane L, or the "progress direction inside" of the lane L. As shown in FIG.

As shown in FIG. 1, the fee receiving facility 1 includes a vehicle type discrimination apparatus 10, a charge automatic receiving machine 20, an oscillation controller 40, and an oscillation side vehicle detector 50.

The vehicle type discrimination apparatus 10 may classify the vehicle type of the vehicle A traveling on the lane L (for example, "light vehicle (including two-wheeled vehicle)", "normal car", "medium car", "large car" and Device for discriminating the classification of "extra large-sized cars".

The vehicle type discrimination apparatus 10 is provided upstream of the lane L, and has various detection sensors (entry side vehicle detector 10A, laser detector 10C) installed on the island I, and the road surface of the lane L. It has a stepping board (step 10B) provided on it.

The fare automatic receipt machine 20 is a machine that performs charge receipt processing by presenting a billed amount or the like to a driver or the like (user) of the vehicle A traveling on the lane L. The front face (surface facing the lane L side) of the toll machine 20 is provided with a display for presenting the billed amount and a reception desk for accepting bills, coins, credit cards, and the like.

The automatic charge machine 20 is installed on the island I on the downstream side of the vehicle type determining device 10, and charges the amount of money according to the vehicle type classification of the vehicle A determined by the vehicle type determining device 10.

The oscillation controller 40 is installed on the downstream side of the toll machine 20 and is a device for performing oscillation control of the vehicle A traveling on the lane L. As shown in FIG. For example, the oscillation controller 40 oscillates the vehicle A until the driver of the vehicle A entering the lane L or the like completes the required amount of payment processing through the toll machine 20. Close the lane L so as not to. When the payment is completed, the lane L is opened so that the vehicle A can be exited.

The oscillation side vehicle detector 50 is provided on the most downstream side of the lane L, and detects the exit of the vehicle A from the charge receiving facility 1.

As shown in FIG. 1, the vehicle type discrimination apparatus 10 is equipped with the entrance side vehicle detector 10A, the stepboard 10B, the laser detector 10C, and the main control part 10D.

The vehicle detector 10A having an entry side vehicle is installed on the island I, and runs the lane L through the opposing floodlight and the light receiving tower with the lane L interposed in the lane width direction (± Y direction). (A) The presence or absence of the (car body) is determined, and passage (entry) of one vehicle A is detected.

The tread 10B is arrange | positioned so that it may extend in the lane width direction on the road surface of the lane L, and detects the pressure by the tire of the vehicle A which runs. The positions in the lane direction (± X direction) of the entry-side vehicle detector 10A and the tread 10B are the same. The tread 10B is capable of detecting the stepped position and the range, and by combining with the detection result of the entry-side vehicle detector 10A, the axle number, tread width and tire width of the vehicle A can be specified.

The laser detector 10C is a detector for detecting the tire position (foot pattern) of the vehicle A traveling on the lane L. FIG. The laser detector 10C is disposed ahead of the step 10B in the advancing direction (for example, the most upstream side of the island I). The specific aspect of the laser detector 10C is mentioned later.

The main control unit 10D is a central processing unit (CPU) in charge of the operation of the vehicle type discrimination apparatus 10 as a whole. Specifically, the main control unit 10D receives various detection signals from the entry-side vehicle detector 10A, the treadmill 10B, and the laser detector 10C, and at the same time, the vehicle type of the vehicle A traveling on the basis of the detection result. Distinguish the distinction by one.

In addition, the main control unit 10D immediately notifies the automatic charge machine 20 of the discriminated vehicle type. Thereby, the fare automatic receipt machine 20 can charge the amount of money according to the vehicle type division discriminated | determined by the vehicle type discrimination apparatus 10 in the fee receipt process with the vehicle A. FIG.

In addition, in this embodiment, although the main control part 10D is shown in the aspect integrated in the vehicle type discrimination apparatus 10 (for example, as shown in FIG. 1, entry side vehicle detector 10A), In another embodiment, it is not limited to this aspect. For example, in another embodiment, the main control unit 10D may be embedded in a device other than the vehicle type discrimination apparatus 10 provided on the island I or remotely, and connected to a communication network or the like.

(Structure of Laser Detector)

2 and 3 are first and second drawings for explaining the functions of the laser detector according to the first embodiment, respectively.

Specifically, FIG. 2 illustrates a state in which the lane L and the vehicle A are viewed from the side (the -Y direction side). 3 has shown the state which looked at the lane L and the vehicle A from the upper side (+ Z direction side).

As shown in FIG. 2, the laser detector 10C is disposed at the most upstream side of the island I, and the height at which only the tire of the vehicle A in the height direction (± Z direction) is disposed (than the minimum ground height). At a low height) and transmits the laser light la along the road surface of the lane L. FIG. The laser detector 10C also detects the reflected light of the laser light la generated on the tire surface of the vehicle A. FIG.

As shown in FIG. 3, the laser detector 10C continuously changes the projection angle θ of the laser light la in the horizontal direction, and radially radiates the laser light la at the installation position of the laser detector 10C. ), Laser scanning (scanning) is performed.

With this configuration, the laser detector 10C travels in the lane L at least in the predetermined range (scan range N) in the traveling direction ahead of the tread plate 10B at least among the lanes L. FIG. Scan data can be acquired according to the positional relationship with the tire.

In addition, in this embodiment, the output intensity of the laser beam la is adjusted so that the tire of the vehicle which is about 10 meters away from the installed position can be detected by the laser detector 10C. In addition, one scan speed over the entire scan range N is sufficiently fast compared to the moving speed of the vehicle A. FIG.

In addition, the laser detector 10C repeatedly executes a laser scan over the entire scan range N every predetermined time (for example, every 10 milliseconds) to sequentially execute a plurality of scan data corresponding to a plurality of laser scans. Acquire.

It is a figure which shows the example of the positional relationship of the fee collection facility which concerns on 1st Embodiment, and a vehicle.

Specifically, FIG. 4 shows an example in the case where the vehicle A belonging to the vehicle type division ("large car", "extra large car") having a large vehicle body size enters the toll collection facility 1.

And in the example shown in FIG. 4, the vehicle A respond | corresponds to the axle S1 provided in the advancing direction inside (-X direction side) of a vehicle body, and tire T11 is to the left (-Y direction side) of a traveling direction. It has the tire T12 in the advancing direction right side (+ Y direction side). Further, the vehicle A has tires T21 and T31 on the left side of the traveling direction, respectively, corresponding to the axles S2 and S3 provided on the front of the vehicle body in the traveling direction ahead (+ X direction side), and the tire T22 on the right of the traveling direction. , T32).

As shown in FIG. 4, in the charge receiving equipment 1 according to the first embodiment, the interval between the charge automatic receiving machine 20 and the stepping plate 10B disposed on the upstream side thereof is an interval d1. have. In addition, as shown in FIG. 4, the space | interval of the tread plate 10B and the laser detector 10C arrange | positioned upstream is the interval d2.

Here, the case where the car length D of the vehicle A which is a "large car" (or an "large car") is larger than the interval d1 is considered.

According to the example shown in FIG. 4, in the step in which the driving seat (inward direction) of the vehicle A of the vehicle length D (> interval d1) reached the toll machine 20, the vehicle A A part of advancing direction front (+ X direction side) of is in the state which has not yet passed over the stepboard 10B. If so, the vehicle type discrimination apparatus 10 cannot specify the number of axles of the entire vehicle A based on the detection result of the tread 10B at the stage where the driver or the like performs the payment processing, and furthermore, the vehicle A Can't determine the type of car.

Therefore, the vehicle type discrimination apparatus 10 according to the first embodiment specifies the number of axles in the range ahead of the tread plate 10B in the vehicle A based on the detection result of the laser detector 10C.

(Function Configuration of Vehicle Type Determination Unit)

FIG. 5 is a diagram illustrating a functional configuration of a vehicle type discrimination apparatus according to the first embodiment. FIG.

As shown in FIG. 5, the vehicle type discrimination apparatus 10 is equipped with the entrance side vehicle detector 10A, the stepboard 10B, the laser detector 10C, and the main control part 10D. The structural functions and the positional relationship of the entry-side vehicle detector 10A, the tread 10B and the laser detector 10C are as described with reference to Figs.

The main control unit 10D according to the present embodiment reads and executes a predetermined program, thereby exhibiting functions as the axle number specifying unit 101 and the vehicle type classification determining unit 102. Hereinafter, the functions of the axle number specifying unit 101 and the vehicle type classification determining unit 102 will be described.

The axle number specifying unit 101 specifies the axle number of the vehicle A based on the detection result of the tread 10B and the laser detector 10C. As shown in FIG. 5, the axle number specifying portion 101 according to the present embodiment has an inner axle number specifying portion 101A and a front axle number specifying portion 101B.

The vehicle type classification determining unit 102 determines the vehicle type classification of the vehicle A based on the number of the axles specified by the axle number specifying unit 101. In addition, the vehicle type division determining unit 102 notifies the fare automatic receiver 20 of the determined vehicle type division.

In FIG. 5, the vehicle type classification determining unit 102 shows that the axle number specifying unit 101 inputs only the axle number of the specific vehicle A, but in fact, from the detection result of the tread 10B. The vehicle type classification of the vehicle A is discriminated by the combination with the tread width, the tire width, etc. of the vehicle A specified. Moreover, the vehicle model discrimination apparatus 10 which concerns on other embodiment further combines detection results, such as the vehicle height detector which can detect the vehicle height of the vehicle A, the license plate detector which can detect the license plate information of the vehicle A, and the like. The vehicle type classification of the vehicle A can also be discriminated.

Next, the inner axle number specifying portion 101A and the front axle number specifying portion 101B of the axle number specifying portion 101 will be described.

The inner axle number specifying unit 101A specifies the number of axles in the range in the travel direction inward from the step 10B in the vehicle A based on the detection result of the step 10B. Specifically, the inside axle number specifying unit 101A calculates the number of times the stepping plate 10B is stepped on during the entry detection of the vehicle A by the entry side vehicle detector 10A. The number of times the tread plate 10B is stepped on, that is, the number of axles that stepped on the tread plate 10B in the vehicle A and moved inward in the traveling direction from the tread plate 10B (see FIG. 4).

On the other hand, the front axle number specifying unit 101B specifies the number of axles in the range ahead of the tread plate 10B in the vehicle A based on the detection result of the laser detector 10C. Specifically, the front axle number specifying portion 101B specifies the number of axles of the tires belonging to the scan range N in the traveling direction ahead of the tread 10B.

Hereinafter, the detailed function of the front axle number specification part 101B is demonstrated.

(Function configuration of the front axle number specifying section)

Fig. 6 is a diagram showing a functional configuration of the front axle number specifying unit according to the first embodiment.

As shown in FIG. 6, the front axle number specification part 101B which concerns on this embodiment is the same vehicle plate as the tire determination part 110, the axle determination part 111, the moving direction distance specification part 112, and the like. The front part 113 and the tread detection tire specification part 114 are provided.

The tire judging unit 110, when the plurality of detection coordinates obtained as the detection result of the laser detector 10C fits a predefined tire shape pattern, the tire of the vehicle A at a position corresponding to the plurality of detection coordinates. Determines that is present.

The axle determination unit 111 determines that the vehicle A is applied to the two tires when the positional relationship between the two tires specified on the basis of the detection result of the laser detector 10C fits the prescribed tire arrangement pattern. It is determined that it has a corresponding one axle, and a process of matching the two tires is performed.

The movement direction distance specification part 112 specifies the movement vector (movement direction and movement distance) of the tire of the vehicle A based on the some detection result which the laser detector 10C detected at the some time.

The same vehicle determination unit 113 determines that the plurality of tires belong to one vehicle when the motion vectors for the plurality of tires match, and performs the process of associating the plurality of tires.

The tread detection tire specifying unit 114 selects a tire (tread on the tread 10B) detected by the tread 10B among the tires detected by the laser detector 10C based on the movement vectors for the plurality of tires. It is specified.

7 is a view for explaining the function of the tire determining unit according to the first embodiment.

As shown in FIG. 7, the laser detector 10C receives the reflected light of the laser light la on the tire surface and scan data based on the positional relationship (direction and distance) between the laser detector 10C and each tire. Get. The scan data includes coordinates (detection) specified on the virtual XY coordinate plane by the projection angle θ of the laser light la in the horizontal plane (XY plane) and the measurement distance r corresponding to each projection angle θ. The coordinate group Q1, Q2).

The tire determination unit 110 defines a virtual XY coordinate plane corresponding to the scan range N (see FIGS. 3 and 4), and at the same time based on the projection angle θ and the measurement distance r. The coordinates (detection coordinate groups Q1 and Q2) are plotted above.

Here, when the reflected light detected by the laser detector 10C is the reflected light generated on the tire surface of the vehicle A, the scan data is specified to correspond to the shape of each tire of the vehicle A, as shown in FIG. 7. Coordinate pattern (arrangement pattern of each detection coordinate on an XY coordinate plane) is shown. That is, in the entry stage of the vehicle A, the laser detector 10C lasers the laser light at an angle to the traveling direction of the vehicle A from the left in the traveling direction and from the left in the traveling direction to the ahead of the traveling direction and to the right in the traveling direction. (la) is light-transmitted (refer FIG. 3, FIG. 4). Then, the projected laser light la is projected and scanned over the ground plane facing the front (-X direction side) of the tire of the vehicle A and the side facing the left side in the traveling direction. Accordingly, the detection coordinate groups Q1 and Q2 detected in accordance with the light projection on the tire become an (L-shaped) array pattern folded at 90 degrees based on the ground plane and the side surface of the tire.

Therefore, the tire determination part 110 first specifies the group (detection coordinate group Q1, Q2) floated within the predetermined distance range among the coordinates plotted on the virtual XY plane. Then, the tire determination unit 110 combines the specific detection coordinate groups Q1 and Q2 and the prescribed tire shape pattern P1 so that each detection coordinate group Q1 and Q2 is in the scan range N. It is determined whether or not it is detected based on the tire existing in the vehicle. Specifically, the tire judging unit 110 determines whether the detection coordinate groups Q1 and Q2 fall within the region of the L-shaped tire shape pattern P1 partitioned so as to be folded at 90 degrees.

When the detection coordinate groups Q1 and Q2 enter the region of the tire shape pattern P1, the tire determination unit 110 indicates that the tire exists at a position corresponding to each of the detection coordinate groups Q1 and Q2. Determine. Specifically, the tire determination unit 110 specifies the position of the estimated tire τ11 on the imaginary XY coordinate plane based on the detection coordinate group Q1, and further based on the detection coordinate group Q2. A process of specifying the position of the estimated tire τ12 on the XY coordinate plane is performed.

8 is a view for explaining the function of the axle determination unit according to the first embodiment.

The axle determination unit 111 acquires the positional relationship of the two estimated tires τ 11 and τ 12 specified on the virtual XY coordinate plane by the tire determination unit 110, and determines the position of the two estimated tires τ 11 and τ 12. It is determined whether or not the positional relationship matches the predefined tire arrangement pattern P2.

Here, as described above, the laser detector 10C has the laser light la with respect to the vehicle A in the advancing stage of the vehicle A, while the laser detector la is in the advancing direction and to the left (-X, −). The light is projected obliquely toward the travel direction to the right (+ X, + Y direction) while moving forward from the Y direction side. With such a configuration, the laser detector 10C has a tire (tires T11, T21, and T31 shown in Fig. 4) disposed on the left side in the traveling direction of the vehicle A in accordance with the positional relationship with the vehicle A. All of the tires (tires T12, T22, and T32 shown in FIG. 4) disposed on the right side of the traveling direction can be detected.

In addition, the running direction of the vehicle A is limited to some extent by the lane L installed in the fee collection facility 1. Therefore, the positional relationship of the two tires corresponding to the same axle of the vehicle A is also limited to some extent. That is, as shown in FIG. 8, the position of the lane direction (± X direction) is substantially coincident, and the position of the lane width direction (± Y direction) is also different from the distance (approximately 1.5 m to 2.0 m) along the tread width. The two tires are likely to be two tires (for example, tires T11 and T12) corresponding to the same axle (for example, axle S1 shown in FIG. 4) of the vehicle A. FIG.

Thus, the axle determination unit 111 determines the two estimated tires τ 11 and τ 12 and the lane direction (± X direction) and lane width direction (± Y direction) specified by the tire determination unit 110 on the XY coordinate plane. The tire arrangement pattern P2 defining the relative position is combined to determine whether the two estimated tires τ11 and τ12 correspond to the same axle of the vehicle A. FIG.

The tire arrangement pattern P2 is defined based on the positional relationship of two tires corresponding to the same axle on the virtual XY coordinate plane. Specifically, as shown in FIG. 8, the tire arrangement pattern P2 has a width corresponding to the tread width where the position in the ± X direction coincides and the position in the ± Y direction is assumed on the virtual XY coordinate plane. As many as two different regions are partitioned.

The axle determination unit 111 determines whether the estimated tires τ 11 and τ 12 fall within the area of the tire arrangement pattern P2.

When the estimated tires tau 11 and tau 12 fall within the area of the tire arrangement pattern P2, the axle determination unit 111 determines that axles corresponding to each of the estimated tires tau 11 and tau 12 exist. Specifically, the axle determination unit 111 specifies the estimated axle σ1 corresponding to the estimated tires τ11 and τ12 on the virtual XY coordinate plane and at the same time the estimated tire τ11 is determined by the estimated axle σ1. A process of matching the estimated tire tau 12 is performed.

9 is a diagram illustrating a function of the movement direction distance specifying unit according to the first embodiment.

As described above, the laser detector 10C according to the present embodiment repeatedly executes a laser scan of the scan range N every predetermined time Δt (for example, Δt = 10 milliseconds). The moving direction distance specifying unit 112 analyzes a plurality of scan data acquired by a plurality of laser scans in a time series, and moves vector (movement direction and Movement distance).

For example, the tire determination unit 110 specifies the estimated tire τ11 'on the XY coordinate plane based on the scan data acquired at a certain time ta, and then the next timing (time ta + Δt). It is assumed that the estimated tire tau 11 is specified on the same XY coordinate plane based on the acquired scan data.

In this case, the moving direction distance specifying unit 112 determines whether the position of the estimated tire tau 11 relative to the estimated tire tau 11 'falls within the predefined moving direction distance assumption range P3.

Here, the movement direction distance assumption range P3 is based on the position where the estimated tire τ11 'is disposed at the time ta on the imaginary XY coordinate plane, and the same estimated tire τ11' is a predetermined time ( The area assumed to be located after Δt) has been partitioned. For example, the running direction of the vehicle A is limited to some extent by the lane L. FIG. In addition, it is assumed that the running speed of the vehicle A also falls within a predetermined range (about 5 km / h to 20 km / h) on the premise that the vehicle A stops in front of the toll machine 20. The moving direction distance assumption range P3 is defined in advance based on the traveling direction and the traveling speed of the vehicle A thus assumed.

The moving direction distance specifying unit 112 is the estimated tire τ11 when the estimated tire τ11 specified on the XY coordinate plane at time ta + Δt falls within an area of the moving direction distance assumption range P3. ) Is detected based on the same tire as the estimated tire tau 11 ', and specifies the movement vector R11 from the estimated tire tau 11' to the estimated tire tau 11.

10 is a view for explaining the function of the same vehicle determination unit according to the first embodiment.

The laser detector 10C repeats the laser scan in the scan range N every predetermined time [Delta] t, thereby sequentially detecting the position of the tire entering the scan range N in accordance with the running of the vehicle A. FIG. In addition, the tire determination unit 110 and the axle determination unit 111 described above have a plurality of axles (the axle S1 and the like) of the vehicle A based on scan data which are sequentially obtained as the vehicle A travels. ) And the positional relationship of a plurality of tires (tires T11, T12, etc.) corresponding to each of the axles (estimated axles sigma 1 and estimated tires τ11, τ12, etc. shown in Figs. 7 and 8). ).

Here, at a certain time tb, the tire judging unit 110 and the axle judging unit 111 are estimated tires τ11 ', τ12' and the estimated axle σ2 'corresponding to the estimated axles σ1'. It is assumed that the corresponding estimated tires τ21 'and τ22' are specified on the XY coordinate plane. Further, the tire judging unit 110 and the axle judging unit 111 have estimated tires τ11 and τ12 and the estimated axles σ2 corresponding to the estimated axles σ1 at the next timing (time tb + Δt). It is assumed that the estimated tires τ21 and τ22 which are associated with () are specified on the XY coordinate plane.

In this case, the above-described moving direction distance specifying unit 112 performs the time (for each of the estimated tires τ 11 ′, τ 12 ′, τ 21 ′, τ 22 ′ specified at time tb through the processing described with reference to FIG. 9. A process of associating each of the estimated tires τ11, τ12, τ21, and τ22 specified in tb) + Δt is performed. Then, the moving direction distance specifying unit 112 specifies the moving vectors R11, R12, R21, and R22 for each of the estimated tires τ11, τ12, τ21, and τ22.

Here, the same vehicle determination unit 113 determines whether or not each of the movement vectors R11, R12, R21, and R22 with respect to the estimated tires τ11, τ12, τ21, and τ22 coincides (within a predetermined error range). And if it matches, it determines with the said estimated tire (tau11, (tau) 12, (tau) 21, (tau) 22) belonging to the same vehicle (estimated vehicle (alpha)). In other words, when a plurality of tires specified by the tire determination unit 110 are moved at the same distance in the same direction in time series, the plurality of tires are likely to belong to the same vehicle A. Therefore, the same vehicle determination unit 113 specifies the estimated vehicle α on the virtual XY coordinate plane, and selects a plurality of tires (estimated tires τ11, τ12, τ21, τ22) in which the moving direction and the moving distance coincide. A process of matching the estimated vehicle α is performed.

Further, at a certain time tc after a predetermined time elapses from the time tb, the estimated tire τ31 ', which the tire determining unit 110 and the axle determining unit 111 further correspond to the estimated axle σ 3', τ32 ') is specified on the XY coordinate plane. Further, at the next timing (time tc + Δt), the estimated tires τ31 and τ32 to which the tire determining unit 110 and the axle determining unit 111 correspond to the estimated axles σ3 are placed on the XY coordinate plane. It is said to be specific. In this case, the moving direction distance specifying unit 112 further specifies the moving vectors R31 and R32 for the respective estimated tires τ31 and τ32.

At this time, the same vehicle determination unit 113 determines whether or not the newly specified motion vectors R31 and R32 coincide with the respective motion vectors R11, R12, R21, and R22 already corresponding by the estimated vehicle?. Is determined, and in case of a match, it is determined that the estimated tires? 31 and? 32 belong to the same estimated vehicle?.

As described above, the moving direction distance specifying unit 112 sequentially specifies the moving direction and the moving distance (movement vectors R11, R21, ...) with respect to the tire to be specified based on the scan data sequentially obtained. Then, the same vehicle determination unit 113 regards the tire group in which the movement direction and the movement distance specified in sequence by the movement direction distance specifying unit 112 correspond to the tire belonging to the same vehicle (the estimated vehicle α). We correspond in turn.

The front axle number specifying unit 101B calculates the number of axles belonging to the same vehicle (the estimated vehicle α) among the specific axles by the axle determining unit 111, so that the vehicle A actually traveling the lane L The number of axles to have can be specified.

It is a figure explaining the function of the tread detection tire specification part which concerns on 1st Embodiment.

As shown in FIG. 4, the tread 10B is arrange | positioned downstream by the distance d2 rather than the laser detector 10C (most downstream of the scan range N). Therefore, at least some of the tires (tires T11, T12, ...) of the vehicle A specified on the basis of the scan data of the laser detector 10C may have moved downstream by the interval d2 as the vehicle A travels. At this time, it is also detected by the tread 10B. Then, it is assumed that the axles (the axles S1, S2, ...) in which the front axle number specifying portion 101B is specified and the axles in which the inner axle number specifying portion 101A (Fig. 5) is specified overlap.

Therefore, the tread detection tire specifying unit 114 uses the laser on the basis of the movement vectors R11, R12, ... for each tire (the estimated tires τ11, τ12, ...) to which the moving direction distance specifying unit 112 is specified. Among the tires detected by the detector 10C, the tires detected by the tread 10B are also specified.

Here, as shown in FIG. 11, the tread detection tire specification part 114 moves to the downstream side rather than the scan range N, and is estimated tire (tau11 ', tau12') which was not detected by the laser detector 10C (and The position of the estimated axle (σ1 ') is specified. Specifically, the tread detection tire specifying unit 114 has the same moving direction and moving distance as the moving vectors R21, R22, ... of the other estimated tires τ21 ', τ22', ... belonging to the scan range N. The motion vectors R11 * and R12 *, which are denoted by P, are applied to the estimated tires τ11 'and τ12', respectively.

In the example shown in FIG. 11, since the estimated tires τ 21 ′ and τ 22 ′ belong to the scan range N, the movement vectors R 21 and R 22 can be specified by the movement direction distance specifying unit 112. On the other hand, the estimated tires τ11 'and τ12' that deviate from the scan range N correspond as belonging to the same vehicle (the estimated vehicle α) as the estimated tires τ21 'and τ22'. Therefore, it is assumed that the estimated tires τ11 'and τ12' are moved by the same moving direction and distance as the estimated tires τ21 'and τ22' even after moving out of the scan range N.

As described above, the tread detection tire specifying unit 114 may track and specify the position of the tire that has passed the scan range N by applying the moving direction and the moving distance of another tire corresponding to belonging to the same vehicle.

The tread detection tire specifying unit 114 sequentially positions the positions on the XY coordinate planes of the estimated tires τ11 and τ12 that have passed the scan range N based on the moving directions and the moving distances of the subsequent estimated tires τ21 and τ22. The order is specified, and it is determined whether the position has moved to the downstream side than the position of the stepboard 10B defined on the XY coordinate plane. Here, the position of the stepboard 10B defined on the XY coordinate plane is defined based on the distance d2 between the actual stepboard 10B and the laser detector 10C.

Then, when the tread detection tire specifying unit 114 determines that the position on the XY coordinate plane of the estimated tires τ11 and τ12 has moved downstream from the position of the tread plate 10B, the estimated tires τ11 and τ12. The tire is also specified as a tire detected by the tread 10B.

In addition, when the estimated tires τ21 and τ22 located upstream from the estimated tires τ11 and τ12 have passed the scan range N, the tread detection tire specifying unit 114 is positioned within the scan range N. Based on the correspondence with the estimated tires? 31 and? 32, the same processing as described above is performed to specify the positions on the XY coordinate planes of the estimated tires? 21 and? 22.

(Process Flow of Main Control Unit)

12 is a diagram illustrating a processing flow of the main control unit according to the first embodiment.

The processing flow shown in FIG. 12 is repeatedly executed normally during the operation of the fee exchange facility 1.

Specifically, first, the tire judging unit 110 of the front axle number specifying unit 101B has one or more scans in the scan range N based on the detection result (scan data) obtained by the laser scan of the laser detector 10C. It is determined whether a plurality of tires exist (step S01). Here, as shown in FIG. 7, the tire determination part 110 combines the detection coordinate group (detection coordinate group Q1, Q2) floated on the virtual XY coordinate plane, and the tire shape pattern P1, and the Based on the combination result, it is determined that the tires (estimated tires τ11, τ12, etc.) exist at positions corresponding to the detection coordinate group.

In addition, when none of the tires exist in the scan range N from the determination result of the tire determination unit 110, the front axle number specifying unit 101B immediately terminates the processing flow, and the newly acquired scan at the next timing. Perform the same processing on the data.

Next, the axle determination unit 111 of the front axle number specifying unit 101B determines whether two tires are paired tires corresponding to the same axle based on the positional relationship of the tires specified in step S01 (step S02). Here, as shown in FIG. 8, when the two estimated tires τ11 and τ12 whose positions are specified on the XY coordinate plane fit the tire arrangement pattern P2, the axle determination unit 111 corresponds to 2. The two estimated tires? 11 and? 12 are determined to be paired tires corresponding to the same estimated axle (estimated axle? 1).

Next, the moving direction distance specifying portion 112 of the front axle number specifying portion 101B performs correspondence of the same tire based on the position of the tire specified in step S01 and the position of the tire specified by the last laser scan. At the same time, a movement vector for the tire is specified (step S03). Here, as shown in FIG. 9, the movement direction distance specification part 112 is the tire (the estimated tire tau 11 ') specified last time with respect to the tire (the estimated tire tau 11) specified this time (in step S01). It is determined that each tire is the same tire by applying the moving direction distance assumption range P3 based on the above, and the movement vector R11 indicating the moving direction and the moving distance of the same tire (the estimated tire τ11) is specified. do.

Next, the same vehicle determination unit 113 of the front axle number specifying unit 101B determines whether the plurality of tires specified in step S01 belong to the same vehicle, and calculates the number of axles that the same vehicle has ( Step S04). Here, as shown in FIG. 10, the same vehicle determination unit 113 determines whether the movement vectors (movement vectors R11, R12, R21, R22, etc.) specified in step S03 match, and matches the tires. (Estimate tires? 11,? 12,? 21,? 22, etc.) are considered to belong to the same vehicle (estimated vehicle?). Then, the same vehicle determination unit 113 calculates the number of axles (estimated axles sigma 1, sigma 2 ...) corresponding to tires belonging to the same vehicle (estimated vehicle α).

Next, the tread detection tire specifying portion 114 of the front axle number specifying portion 101B is located above the tread plate 10B disposed downstream of the scan range N, among the tires deviating downstream from the scan range N. FIG. It is specified that the process has passed (step S05). Here, as shown in Fig. 11, the tread detection tire specifying unit 114 has the same movement vector (movement vector R11 *, as the movement vector (for example, movement vectors R21 and R22) specified in step S03). R12 *)) is applied to the tires (estimated tires τ11 'and τ12') which are moved downstream from the scan range N. And the tread detection tire specification part 114 specifies the tire which moved to the downstream side rather than the tread plate 10B among the tires which moved to the downstream side in the scan range N. FIG.

The front axle number specifying portion 101B subtracts the number of axles corresponding to the tire moved downstream from the step 10B in step S05 from the number of axles calculated in step S04, and upstream from the step 10B. The number of axles of the vehicle A belonging to the range of (the advance direction ahead) is specified (step S06).

Next, the main control unit 10D determines whether or not the driving seat of the vehicle A has reached the fare automatic receiver 20 and stopped (step S07). In addition, in the present embodiment, the main control unit 10D automatically charges the driving seat of the vehicle A via a predetermined detection sensor (laser detection sensor, ultrasonic sensor, etc.) installed in the charge automatic receiving machine 20. The handwriting 20 is detected. Here, the main control unit 10D may determine whether or not the vehicle A is stopped based on the detection result of the entry-side vehicle detector 10A, the tread 10B, the laser detector 10C, and the like.

When the vehicle A is traveling (step S07: NO), the front axle number specifying unit 101B repeatedly executes the above steps S01 to S06, and the vehicle A is based on the detection result of the laser detector 10C. ), The number of axles in the range ahead of the tread plate 10B is specified.

On the other hand, while the front axle number specifying portion 101B is executing the processing of steps S01 to S06, the inside axle number specifying portion 101A is parallel to calculate the number of times the step 10B is stepped on, and the vehicle A The number of axles in the part which passed through stepping board 10B (range of the inside of a moving direction rather than stepping board 10B) is specified.

When the stop of the vehicle A is detected (step S07: YES), the axle number specifying unit 101 determines the axle number specified by each of the inner axle number specifying unit 101A and the front axle number specifying unit 101B. In addition, the total number of axles of the vehicle A is specified (step S08).

Next, the vehicle type classification determining unit 102 determines the axle number of the entire vehicle A specified by the axle number specifying unit 101 and other various information (tread width, tire width, etc. based on the detection result of the tread 10B). ), The vehicle type classification of the vehicle A is uniquely determined, and the discriminated vehicle type classification ("large", "large", etc.) is output to the toll automatic machine 20 (step S09). Thereby, the charge automatic receiving machine 20 can specify the billed amount according to the vehicle model classification of the vehicle A. FIG.

(Action effect)

As described above, according to the vehicle type discrimination apparatus 10 according to the first embodiment, the tire of the vehicle A is in the laser detector 10C in a predetermined range ahead of at least the tread 10B of the lane L in the traveling direction. The laser beam la is projected to the height where is arranged, and the scan data obtained by detecting the reflected light of the laser beam la is acquired. The axle number specifying unit 101 specifies the axle number of the vehicle A based on the detection result (scan data) of the tread 10B and the laser detector 10C.

Here, in the conventional toll receiving system, when the driver's seat portion of the vehicle A reaches the toll machine 20 or the like, the vehicle body of the vehicle A can complete the passage of the treadmill 10B so as to complete the passage. The space | interval (interval d1) between the automatic machine 20 and the tread plate 10B was about the maximum difference length (for example, 18m). However, depending on the location conditions at the entrance and exit tollgates of the expressway and the like, it may be difficult to secure an installation space in which the distance between the toll machine 20 and the treadmill 10B is greater than or equal to the maximum vehicle length. Therefore, by setting it as the said structure which concerns on this embodiment, when the driving seat of the vehicle A reached the toll machine 20 in the lane L, a part of the front of the advancing direction of the vehicle A becomes Even if it does not pass through the stepboard 10B, the number of axles of the entire vehicle A can be specified based on the detection result of the laser detector 10C. That is, even when a portion of the front of the vehicle A in the forward direction of the vehicle A does not pass through the stepping board 10B in the step of receiving the tolling process, it is possible to specify the classification of the vehicle type of the vehicle A so that the user is properly charged. Can be performed. As mentioned above, according to the vehicle type discrimination apparatus 10 which concerns on this embodiment, it can install also in the place where sufficient installation space cannot be secured, and the vehicle type division of a vehicle can be discriminated precisely.

In addition, according to the vehicle type discrimination apparatus 10 described above, if the axle is accidentally generated in the laser detector 10C due to an accidental detection of reflected light, a part of the axles is based on the detection result of the laser detector 10C. Even if not precisely specified, the number of axles for the portion of the vehicle A that has passed through the tread 10B can be reliably specified using the detection result of the tread 10B. Therefore, the specific precision of the number of axles of the vehicle A can be improved.

In addition, according to the vehicle type discrimination apparatus 10 described above, the inner axle number specifying unit 101A has an axle in a range in the traveling direction inward of the stepboard 10B in the vehicle A based on the detection result of the stepboard 10B. The number is specified, and the front axle number specifying unit 101B specifies the number of axles in the range ahead of the tread plate 10B in the vehicle A based on the detection result of the laser detector 10C.

By doing so, the number of the axles for the portion of the vehicle A that has passed through the stepping board 10B adopts the detection result of the stepping board 10B (the number of steps) to specify the number of the axles, so that the number of the axles of the vehicle A is specified. The precision can be improved. In particular, when the vehicle A is a "light vehicle", a "normal vehicle", or the like, all the axles pass through the stepping board 10B when the driving seat of the vehicle A reaches the toll machine 20. It is likely to be. In this case, since the number of axles of the vehicle A is specified only on the basis of the detection result of the tread 10B, the same precision as the conventional one can be maintained.

Moreover, according to the vehicle type discrimination apparatus 10 mentioned above, the front axle number identification part 101B (tire determination part 110) is a tire shape in which the several detection coordinates obtained as a detection result of the laser detector 10C are prescribed | regulated previously. In the case where the pattern P1 is fitted, it is determined that the tire exists at a position corresponding to the plurality of detection coordinates.

By doing in this way, when a garbage, dust, etc. are detected by the detection result of the laser detector 10C, misunderstanding of the said garbage, dust, etc. as a tire can be suppressed, for example. Therefore, the specific precision of the number of axles by the detection result of the laser detector 10C can be improved.

Moreover, according to the vehicle type discrimination apparatus 10 mentioned above, the front axle number specification part 101B (axle determination part 111) has the positional relationship of the two tires specified based on the detection result of the laser detector 10C. In the case where the tire arrangement pattern P2 is defined in advance, it is determined that the vehicle A has one axle corresponding to the two tires.

In this way, when the positions of the plurality of tires are specified within the scan range N, the existence of the axles corresponding to the tires can be accurately determined. Therefore, the specific precision of the number of axles by the detection result of the laser detector 10C can be improved further.

In addition, according to the vehicle type discrimination apparatus 10 described above, the front axle number specifying unit 101B (moving direction distance specifying unit 112 and the same vehicle determining unit 113) has a plurality of times when the laser detector 10C is used. On the basis of the plurality of detection results detected by, when the tire movement vector is specified and the tire movement vectors coincide with each other, it is determined that one vehicle has the tires.

In this way, since one vehicle (vehicle A) and the other vehicle traveling on the lane L can be separated, the number of axles for the one vehicle (vehicle A) can be specified more precisely. .

For example, even when the following vehicle is traveling ahead of the traveling direction of the vehicle A, the traveling speed of the subsequent vehicle is likely to be different from the traveling speed of the vehicle A. FIG. Then, the tire in which the tire of the vehicle A differs from the movement vector can be regarded as a tire of a vehicle (following vehicle) different from the vehicle A. The same vehicle determination unit 113 can specify the tires (axles) belonging to one vehicle in this way, and thus can accurately calculate the number of axles.

Moreover, according to the vehicle type discrimination apparatus 10 mentioned above, the front axle number identification part 101B (step detection tire specification part 114) is a tire detected by the laser detector 10C based on several tire movement vectors. Among them, the tire detected by the tread 10B is specified.

By doing in this way, among the axles specified based on the detection result of the laser detector 10C, what was calculated also by the detection result (the number of steps) of the tread plate 10B can be distinguished. Therefore, the same axles can be prevented from being duplicated and the number of axles for the vehicle A can be specified more precisely.

As described above, according to the vehicle model discrimination apparatus 10 according to the first embodiment, the vehicle model discrimination apparatus can be installed even where a sufficient installation space cannot be secured, and the vehicle model classification of the vehicle can be accurately determined.

<2nd embodiment>

Next, the vehicle type discrimination apparatus which concerns on 2nd Embodiment is demonstrated, referring FIG.

In addition, since the specific aspect, such as a structure, a functional structure, etc. of the vehicle type discrimination apparatus which concerns on 2nd Embodiment is the same as that of 1st Embodiment, it abbreviate | omits illustration. In the present embodiment, however, the tread plate 10B and the laser detector (so that all the tires disposed upstream from the tread plate 10B with respect to one vehicle (vehicle A) can be detected by the laser detector 10C). It is assumed that the interval d2 (see Fig. 3) with 10C) is provided as short as possible.

(Process Flow of Main Control Unit)

It is a figure which shows the process flow of the axle number specification part which concerns on 2nd Embodiment.

The processing flow shown in FIG. 13 is repeatedly executed normally during the operation of the fee service facility 1 as in the first embodiment.

Specifically, the inner axle number specifying unit 101A calculates the number of times the stepping plate 10B is stepped on and specifies the axle of the portion passing through the stepping plate 10B (step S11).

The inner axle number specifying unit 101A determines whether the vehicle is stopped (step S12), and when the vehicle A is running (step S12: NO), the axle based on the detection result of the tread 10B. Continue counting numbers.

On the other hand, when the vehicle A stops (step S12: YES), the laser detector 10C executes a laser scan. Then, the front axle number specifying unit 101B specifies the number of axles in the range ahead of the tread plate 10B in the vehicle A based on the scan data obtained by the laser scan (step S13).

Next, the axle number specifying unit 101 specifies the total number of axles of the vehicle A by adding the axle numbers specified by each of the inner axle number specifying unit 101A and the front axle number specifying unit 101B to each other. (Step S14).

Next, the vehicle type classification determining unit 102 determines the axle number of the entire vehicle A specified by the axle number specifying unit 101 and other various information (tread width and tire width based on the detection result of the tread 10B). And the like, the vehicle type division of the vehicle A is uniquely determined, and the discriminated vehicle type division is outputted to the fare automatic reception machine 20 (step S15). Thereby, the charge automatic receiving machine 20 can specify the billed amount according to the vehicle model classification of the vehicle A. FIG.

(Action effect)

As described above, according to the vehicle type discrimination apparatus 10 according to the second embodiment, the laser detector 10C starts the laser scan (light emission of the laser light la) after it is determined that the vehicle A has stopped. . Then, the front axle number specifying unit 101B specifies the number of axles in the range ahead of the tread plate 10B based on the scan data acquired after the vehicle A stops.

By doing so, the number of axles in the range in the forward direction of the stepboard 10B is first determined by the stepboard 10B, and then the number of the axles in the range in the forward direction of the stepboard 10B by the laser detector 10C. Detection processing is performed. Therefore, the specific process of the number of axles using the laser detector 10C can be simplified.

<Other Embodiments>

As mentioned above, although each embodiment was demonstrated in detail, the specific aspect of the vehicle type discrimination apparatus 10 which concerns on each embodiment is not limited to the above-mentioned, It is possible to add various design changes etc. in the range which does not deviate from the summary. Do.

For example, in the first embodiment, the same vehicle determination unit 113 determines whether to belong to the same vehicle based on the movement vector (movement direction and movement distance) of the tire whose position is specified. In another embodiment, it is not limited to this aspect.

For example, it is known that the tread width per axle of a vehicle is generally equivalent. Therefore, the same vehicle judging unit 113 according to another embodiment has a distance (tread width) in the lane width direction (± Y direction) of two tires corresponding to one axle and lanes of two tires corresponding to the other axle. When the distance in the width direction (tread width) is greatly different, the two axles may be determined to belong to different vehicles, respectively.

In addition, as described above, when discriminating whether the vehicle is the same vehicle based on the tread width, the detected value of the tread width (distance in the lane width direction of two tires corresponding to one axle) according to whether it is a single tire or a double tire. Although it is assumed that there is a deviation, it is possible to separate the following travel of a large car and a normal car by allowing an error of the extent as much as the tire width.

Moreover, it is known that the axle center position of each axle which a vehicle normally has coincides. Therefore, it is also possible to determine whether each axle belongs to the same vehicle by specifying the axle center position (an average value of lane width direction positions of two tires corresponding to one axle). For example, when the vehicle A is a tow vehicle towing a tow vehicle, it is assumed that the tread width is significantly different between the tow vehicle (vehicle A) and the tow vehicle. However, as long as the tow truck is towing the tow car straight, the axle center positions of the tow car and the tow car will almost coincide. Therefore, even in this case, even when the vehicle A is a tow vehicle, it is possible to accurately determine whether each identified axle belongs to one vehicle (integrated tow car and tow car).

Moreover, the axle determination part 111 which concerns on 1st Embodiment is the tire (estimated tire tau 11) arrange | positioned at the left side of the advancing direction of the vehicle A, and the tire (estimated tire tau 12) arrange | positioned at the right side of the advancing direction. When the positional relationship with and satisfies a predetermined condition, it was explained that it is determined that the vehicle A has one axle (estimated axle 1) corresponding to the two tires.

However, depending on the positional relationship between the laser detector 10C and the tire of the vehicle A traveling on the lane L, one tire disposed on the right side of the traveling direction is hidden behind the other tire disposed on the left side of the traveling direction. It is assumed that the case does not appear on the scan data (as the detection coordinate groups Q1, Q2, etc.). For example, the tire T32 disposed on the right side of the traveling direction of the vehicle A shown in FIG. 4 is hidden behind the tire T21 disposed on the left side of the traveling direction of the vehicle A, and does not appear on the scan data. It is assumed.

However, in the scan data acquired at a certain timing, even if some tires are not detected hidden behind other tires, the relative positional relationship between each tire and the laser detector 10C changes as the vehicle A travels. At another timing, the hidden tire can be detected. That is, the axle judging unit 111 belongs to the same axle for each of all axles of the vehicle A based on the plurality of scan data acquired at a plurality of times (timings) while the vehicle A is traveling. Correspondence of the two tires becomes possible.

In addition, the axle determination unit 111 according to another embodiment further includes lanes of two tires (for example, estimated tires τ11 and τ12) that correspond to the same axle (for example, the estimated axle σ1). By specifying the distance in the width direction, the tread width corresponding to the axle can be specified.

In this way, since the tread width of the vehicle A can be specified based on the detection result of the laser detector 10C, it is possible to determine the vehicle type classification of the vehicle A more precisely.

Similarly, the tire determination unit 110 according to another embodiment may further identify the tire width (whether single tire or double tire) of the tire whose position is specified based on the pattern of the detection coordinate group.

For example, the tire judging unit 110, when the width of the lane width direction (± X direction) of the detection coordinate groups Q1 and Q2 (see Fig. 7) is less than a predetermined value, is determined based on the estimated tire ( It is determined that τ11 and τ12 are "single tires", and when it is more than a predetermined value, it is determined that the estimated tires τ11 and τ12 are "double tires".

In this way, since the tire width can be specified based on the detection result of the laser detector 10C, vehicle type classification of the vehicle A can be discriminated more precisely.

In addition, as described above, when the tread width, the tire width, and the number of axles of the vehicle A can be specified based on the detection result of the laser detector 10C, for example, the vehicle model discrimination apparatus 10 uses a stepping plate ( Even if the detection result of 10B) is not used, the classification of the vehicle model of the vehicle A can be specified. Therefore, the vehicle model discrimination apparatus 10 which concerns on other embodiment may be an aspect which does not have the stepboard 10B.

That is, the vehicle model discrimination apparatus 10 according to another embodiment does not have a tread 10B, and transmits the laser light la to a height at which the tire of the vehicle A is disposed in a predetermined range on the lane L. FIG. And the axle number specifying unit 101 for specifying the axle number of the vehicle A based on the laser detector 10C which detects the reflected light of the laser light la and the detection result of the laser detector 10C. It can also be set as an aspect.

In this case, the axle number specifying unit 101 is located at a position corresponding to the plurality of detection coordinates when the plurality of detection coordinates obtained as the detection result of the laser detector 10C fit the predefined tire shape pattern. It is assumed that the tire determination unit 110 determines that the tire exists.

By doing so, there is no need to install the tread 10B, so that the number of parts of the vehicle type discrimination apparatus 10 can be reduced, and the manufacturing cost can be reduced.

Moreover, in the aspect which does not have the said stepboard 10B, the axle number specification part 101 is based on the tire arrangement pattern in which the positional relationship of the two tires specified based on the detection result of the laser detector 10C is prescribed | regulated. In the case of a match, it may be provided with the axle determination part which determines that the vehicle A has one axle corresponding to the said two tires.

Moreover, in the aspect which does not have the said stepping board 10B, the axle number specification part 101 is based on the several detection result which the laser detector 10C detected from several time, and the moving direction of each tire, and The moving direction distance specifying part 112 which specifies a moving distance and the same vehicle determination part 113 which judges that a some tire belongs to one vehicle, when a several tire moving direction and a moving distance correspond. You may be doing it.

Moreover, the tire determination part 110 which concerns on 1st Embodiment determines that a tire exists in the position corresponding to the said some detection coordinate, when a some detection coordinate fits a predetermined tire shape pattern. As explained. Here, the phrase "matches" to the tire-shaped pattern is not limited to the case where "the detection coordinate groups Q1 and Q2 are all within the range partitioned by the tire-shaped pattern P1." A part (mostly) of (Q1, Q2) is substantially included in the range of the tire shape pattern P1 "shall also be included. That is, the tire judging unit 110 performs a pattern combination with the tire shape pattern P1 as the detection coordinate group Q1 and Q2 as a whole even in the case of including an unexpected misdetection coordinate due to garbage or dust. Therefore, when the degree of agreement as a whole is high, it is determined that "tire exists".

The same applies to the pattern combination between the detected tire positional relationship and the tire arrangement pattern P2 by the axle determination unit 111.

In addition, in 1st Embodiment, although the scanning range N of the laser detector 10C was demonstrated as being a predetermined range ahead of the stepping board 10B, in another embodiment, it is not limited to this aspect.

For example, the laser detector 10C according to another embodiment may further include the range in the traveling direction ahead of the tread plate 10B, and may also include the range in the traveling direction inward from the tread plate 10B.

In this way, the position of the tire can be specified more extensively based on the detection result of the laser detector 10C, so that the number of axles of the vehicle A can be more precisely specified.

In addition, in 1st Embodiment, although the laser detector 10C was demonstrated as an aspect arrange | positioned only on the island I of the left of the advancing direction, in another embodiment, it is not limited to this aspect.

For example, the laser detector 10C may be disposed one (or a plurality) on the island I on the left side of the lane L and the right side of the traveling direction.

Thus, by arranging a plurality of laser detectors 10C at different positions, the blind spots can be reduced by combining the scan data obtained by the plurality of laser detectors 10C. Therefore, the position of the tire can be specified more precisely.

Moreover, the aspect which can irradiate light to the height where the tire of the vehicle A is arrange | positioned may be sufficient as the laser detector 10C, It is not limited to what irradiated horizontally.

In addition, the laser detector 10C is not limited to the aspect (the aspect enclosed in one case) comprised as a single apparatus. For example, in the laser detector 10C, a transmitter for transmitting the laser light la and a detector for detecting the reflected light of the laser light la are separately provided on the island I, and each is synchronized. It may also be an aspect of operation.

In addition, the tread detection tire specification part 114 which concerns on 1st Embodiment is the tread plate 10B among the tires detected by the laser detector 10C based on some tire movement vector R21, R22 etc. (FIG. 11). Although the tire detected by) was described as specifying, the tire is not limited to this embodiment in other embodiments.

For example, the axle determination unit 111 sequentially specifies axles (estimated axles σ1, sigma 2, ...) from the head of the vehicle A in accordance with travel from the time of entry into the lane L. FIG. . Here, the tread detection tire specifying unit 114 according to another embodiment acquires the distance (axle spacing) in the lane direction between the specified axles. Specifically, each time the tread detection tire specifying unit 114 determines that a new axle determined to belong to the same vehicle (estimated vehicle?) Is specified, the estimated axle σ1 (first axis) and the estimated axle σ2 Space | interval (DELTA) 12 from (the 2nd axis), space | interval (DELTA) 23 between the estimated axle (σ2) (the 2nd axis), and the estimated axle (σ3) (the 3rd axis). And axle spacing between adjacent axles.

Then, when the driving of the vehicle A proceeds and the pressure due to the first axis is detected by the tread 10B, the tread detection tire specifying unit 114 determines the position of the first axis (the tread 10B). Position), first obtained intervals Δ12, Δ23,... Based on the second axis, the third axis,... Estimate the position where it is placed. Furthermore, when the vehicle A travels and the pressure by the second shaft is detected in the tread 10B, the tread detection tire specifying unit 114 determines the position of the second shaft (the position where the tread 10B is disposed). As a reference, the position where the third axis is located is estimated based on the interval Δ23 and the like. By repeating the above processes sequentially, the tread detection tire specifying portion 114 is each axle (for each axle not passing through the tread plate 10B) disposed ahead of the axle that finally passed on the tread 10B. Estimate the position of.

In this way, the tread detection tire specifying unit 114 corresponds to the position of the axle (tire) detected by the laser detector 10C on the basis of the axle (tire) detected by the tread plate 10B, thereby causing a laser detector 10C. The tire detected by the stepboard 10B can be precisely specified among the tires detected by the &quot;

In addition, in step S07 (first embodiment) and step S12 (second embodiment), the main control unit 10D determines whether or not the vehicle A while driving stops at the toll machine 20. Although it was demonstrated that the vehicle model discrimination process is executed when it is determined that the vehicle A has stopped, the present invention is not limited to this embodiment.

For example, the main control unit 10D may be an aspect in which the vehicle type discrimination process is started when the entry-side vehicle detector 10A detects the entry of the vehicle A. FIG. Specifically, the axle number specifying unit 101 outputs to the vehicle type discrimination unit 102 whenever the axle number specified through the laser detector 10C and the tread 10B is updated as the vehicle A travels. . And the vehicle type division determination part 102 discriminates | determines the vehicle type which becomes the maximum fare among the assumed vehicle types from the specific result of the number of axle numbers obtained in turn, and outputs the said determination result toward the fare automatic receiver. As a result, when the driving seat of the vehicle A reaches the toll machine 20, the payment fee according to the actual vehicle type classification of the vehicle A is determined.

In each of the above-described embodiments, a program for realizing various functions of the main control unit 10D in the vehicle type discrimination apparatus 10 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is a computer system. The various processes are performed by reading out and executing the program. Here, the processes of the various processes of the main control unit 10D described above are stored in a computer-readable recording medium in the form of a program, and the various processes are performed by the computer reading and executing the program. The computer-readable recording medium refers to a magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory, and the like. The computer program can also be transferred to a computer by a communication line, and the computer which has received this transmission can execute the program.

Moreover, the aspect provided with the various functions of the main control part 10D across a some apparatus connected by a network may be sufficient.

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the inventions. These embodiments and modifications thereof are included in the equivalent scope of the invention described in the claims as well as those included in the scope and the gist of the invention.

(Industrial availability)

According to the above-described vehicle type discrimination apparatus, vehicle type discrimination method and program, it is possible to install in a portion where sufficient installation space cannot be secured, and vehicle type classification of the vehicle can be accurately determined.

1: fee transfer equipment
10: vehicle type determination device
10A: Entry Vehicle Detector
10B: tread
10C: laser detector
10D: main control
101: number of axles
101A: inside number of axles
101B: Number of front axle numbers
102: vehicle type discrimination unit
110: tire determination unit
111: axle determination unit
112: moving direction distance specifying portion
113: same vehicle determination unit
114: tread detection tire specifying unit
20: charge vending machine
40: oscillation controller
50: vehicle detector on the starting side
L: Lane
I: Ireland
N: scan range
La: laser light
P1: tire geometry pattern
P2: tire placement pattern
P3: travel direction distance assumption range
Q1, Q2: detection coordinate group
R11, R12, R21, R22, R31, R32: movement vector
A: Vehicle
T11, T12, T21, T22, T31, T32: Tire
S1, S2, S3: Axle
α: estimated vehicle
τ11, τ21, τ22, τ31, τ32: estimated tire
σ1, σ2, σ3: estimated axle
d1, d2: spacing
D: car length
θ: projection angle
r: measurement distance

Claims (11)

A vehicle type discrimination apparatus for discriminating a vehicle type of a vehicle traveling on a lane,
A stepping plate disposed on a road surface of the lane for detecting pressure by a tire of the vehicle;
A laser detector that transmits laser light at a height at which the tire is disposed in a predetermined range in a direction ahead of the tread plate at least in the lane, and detects reflected light of the laser light;
An axle number specifying unit that specifies the number of axles of the vehicle based on a detection result of the tread plate and the laser detector
And
The laser detector transmits the laser toward the forward direction ahead of the installation position of the laser detector, detects the reflected light incident from the forward direction ahead of the installation position of the laser detector,
The scan direction of the laser detector is parallel to the road surface
Vehicle type discrimination device.
The method of claim 1,
The axle number specifying unit
An inner axle number specifying portion that specifies a number of axles in a range in a direction inward of the step of the vehicle, based on a detection result of the stepboard;
A front axle number specifying portion that specifies the number of axles in a range ahead of the tread of the vehicle based on a detection result of the laser detector.
Vehicle type determination device having a.
The method according to claim 1 or 2,
The axle number specifying unit,
In the case where a plurality of detection coordinates obtained as a detection result of the laser detector fits a predefined tire shape pattern, a tire determination unit for determining that the tire exists at a position corresponding to the plurality of detection coordinates is provided.
Vehicle type discrimination device.
The method according to claim 1 or 2,
The axle number specifying unit,
Axle determination that determines that the vehicle has one axle corresponding to the two tires when the positional relationship of the two tires specified on the basis of the detection result of the laser detector fits a prescribed tire arrangement pattern. Wealthy
Vehicle type discrimination device.
The method according to claim 1 or 2,
The axle number specifying unit,
A moving direction distance specifying unit specifying a moving direction and a moving distance of each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times;
The same vehicle determination unit that determines that the plurality of tires belong to one vehicle when the movement direction and the movement distance of the plurality of tires coincide.
Vehicle type determination device having a.
The method of claim 5,
The axle number specifying unit
And a step detecting tire specifying unit specifying a tire detected by the stepping plate among the tires detected by the laser detector based on the moving direction and the moving distance of the plurality of tires.
Vehicle type discrimination device.
A vehicle model discrimination method for discriminating a vehicle type classification of a vehicle traveling on a lane,
Detecting pressure by a tire of the vehicle through a tread disposed on a road surface of the lane;
Using a laser detector to transmit the laser light at a height at which the tire is disposed in a predetermined range in a forward direction at least in front of the tread of the lane, and simultaneously detect the reflected light of the laser light;
Specifying the number of axles of the vehicle, which is information used for discriminating the vehicle type of the vehicle, based on a detection result of the tread plate and the laser detector;
With
The laser detector transmits the laser toward the forward direction ahead of the installation position of the laser detector, detects the reflected light incident from the forward direction ahead of the installation position of the laser detector,
The scan direction of the laser detector is parallel to the road surface
How to determine the model.
A stepping plate disposed on a road surface of a lane to detect pressure by a tire of the vehicle, and transmitting the laser light to a height at which the tire is disposed in a predetermined range in a forward direction of at least the stepping plate of the lane, and at the same time reflecting the laser light A laser detector for detecting a laser beam, wherein the laser beam is projected toward a forward direction ahead of the installation position of the laser detector, and the reflected light incident from the forward direction ahead of the installation position of the laser detector is detected, and the scanning direction of the laser detector is The computer of the vehicle type discrimination apparatus which has the said laser detector parallel to a road surface, and discriminates | determines the vehicle type classification of the said vehicle traveling on the said lane,
Axle number specifying means for specifying the axle number of the vehicle based on a detection result of the stepping plate and the laser detector
A computer-readable recording medium on which a program to function as a computer is recorded.
A vehicle type discrimination apparatus for discriminating a vehicle type of a vehicle traveling on a lane,
A laser detector which transmits laser light at a height at which the tire of the vehicle is disposed within a predetermined range on the lane and detects reflected light of the laser light;
An axle number specifying unit that specifies the axle number of the vehicle based on a detection result of the laser detector,
The axle number specifying unit,
And a tire judging section for judging that the tire is present at a position corresponding to the plurality of detection coordinates when the plurality of detection coordinates obtained as a detection result of the laser detector fits a predefined tire shape pattern,
The laser detector transmits the laser toward the forward direction ahead of the installation position of the laser detector, detects the reflected light incident from the forward direction ahead of the installation position of the laser detector,
The scanning direction of the laser detector is parallel to the road surface
Vehicle type discrimination device.
The method of claim 9,
The axle number specifying unit,
Axle determination that determines that the vehicle has one axle corresponding to the two tires when the positional relationship of the two tires specified on the basis of the detection result of the laser detector fits a prescribed tire arrangement pattern. Wealthy
Vehicle type discrimination device.
The method according to claim 9 or 10,
The axle number specifying unit,
A moving direction distance specifying unit specifying a moving direction and a moving distance of each of the plurality of tires based on a plurality of detection results detected by the laser detector at a plurality of times;
The same vehicle determination unit that determines that the plurality of tires belong to one vehicle when the movement direction and the movement distance of the plurality of tires coincide.
Vehicle type determination device having a.

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